Analysis and design of aperiodic sampling in control systems
Stefan Wildhagen
Cite this publication as
Stefan Wildhagen, Analysis and design of aperiodic sampling in control systems (2023), Logos Verlag, Berlin, ISBN: 9783832583088
Descripción / Abstract
This thesis addresses data-driven analysis as well as prediction-based design of aperiodic sampling in control systems. In many modern control applications, the traditional view of sampling and controlling in a periodic fashion must be abandoned due to varying transmission delays, data loss or uneven computational latencies. The effect of these undesired aperiodicities on the closed loop must thus be analyzed. In addition, a targeted aperiodic design of the sampling pattern, e.g. via event-triggered control (ETC), often allows for a better usage of bandwidth than periodic concepts.
We consider both perspectives in this thesis. In particular, first we provide methods to analyze stability of control systems under arbitrary aperiodic sampling directly from recorded data. Previous approaches to this end required model knowledge, which might be challenging to obtain. Second, we propose a prediction-based approach for design of the aperiodic sampling pattern, called rollout ETC. This approach allows for predictability of the required communication resources and a guarantee of improved sample efficiency, which were both difficult to address in existing ETC schemes.
We consider both perspectives in this thesis. In particular, first we provide methods to analyze stability of control systems under arbitrary aperiodic sampling directly from recorded data. Previous approaches to this end required model knowledge, which might be challenging to obtain. Second, we propose a prediction-based approach for design of the aperiodic sampling pattern, called rollout ETC. This approach allows for predictability of the required communication resources and a guarantee of improved sample efficiency, which were both difficult to address in existing ETC schemes.
Índice
- BEGINN
- 1 Introduction
- 1.1 Motivation
- 1.2 Related work
- 1.3 Contributions and outline
- 2 Preliminaries
- 2.1 Direct data-driven control of LTI systems via data informativity
- 2.2 System analysis via integral quadratic constraints
- 2.3 Summary
- 3 Data-driven analysis of aperiodic sampling in control systems
- 3.1 Setup and problem statement
- 3.2 Robust input/output approach
- 3.3 Switched systems approach
- 3.4 Numerical example
- 3.5 Summary and discussion
- 4 Rollout ETC: prediction-based design of aperiodic sampling in control systems
- 4.1 Setup and problem statement
- 4.2 Rollout ETC algorithm
- 4.3 Theoretical guarantees
- 4.4 Numerical example
- 4.5 Robustness to output feedback, measurement noise and disturbances
- 4.6 Computational aspects and ramifications
- 4.7 Summary and discussion
- 5 Conclusions
- 5.1 Summary and discussion
- 5.2 Outlook
- A Technical proofs
- A.1 Proof of Lemma 3.1
- A.2 Proof of Proposition 3 1
- A.3 Proof of Lemma 3.2
- A.4 Proof of Lemma 3.3
- A.5 Proof of Lemma 4.8
- A.6 Proof of Lemma 4.9
- A.7 Proof of Lemma 4.10
- A.8 Proof of Lemma 4.11
- A.9 Proof of Lemma 4.12
- Bibliography